A very common operation in industry is that of pick and place. This would be typified by a packing operation, such as that shown in the figure, where items are taken from a conveyor and placed into a pallet.
The position of the item on the conveyor and the pallet position provide constraints on the endpoints of the trajectory of the item, but it does not matter from a functional point of view what path is taken by the robot. In practice, the path which gives the shortest time to perform the task will be the best. Note, however, that it will be desirable to constrain the robot to avoid collisions. Thus, once it has gripped the object it should move upwards from the conveyor, then move across to a position over the pallet, and then move downwards before releasing the object.
【正确答案】：工业上一种很常见的操作即是“拾取和放置”。包装生产过程就是一个典型的例子。如图所示，物件从传输带上拿起再放到货盘上。
传输带上物件的位置和货盘的位置限定了物件移动轨迹的端点，但从实际功能角度来看，机器人在移动货物时经过什么样的路径并不重要。实践中，能用最短时间完成任务的路径就是最佳的路径。但要注意，限定机器大以避免碰撞，是可取的。因此,机器人一旦抓住物件，它就应该离开传输带向上移动，再移到货盘士的某个位置，接着再向下移动，之后才把物件放开。
